- Tytuł:
- Efficient generation of 3D surfel maps using RGB-D sensors
- Autorzy:
-
Wilkowski, A.
Kornuta, T.
Stefańczyk, M.
Kasprzak, W. - Powiązania:
- https://bibliotekanauki.pl/articles/331116.pdf
- Data publikacji:
- 2016
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
RGB-D sensor
V-SLAM
surfel map
frustum culling
octree
czujnik RGB-D
drzewo ósemkowe - Opis:
- The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 99-122
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł